CN104092413A - Method and device for optimizing brushless motor phase lead angle and control system - Google Patents
Method and device for optimizing brushless motor phase lead angle and control system Download PDFInfo
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- CN104092413A CN104092413A CN201410308679.0A CN201410308679A CN104092413A CN 104092413 A CN104092413 A CN 104092413A CN 201410308679 A CN201410308679 A CN 201410308679A CN 104092413 A CN104092413 A CN 104092413A
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Abstract
The invention discloses a method and device for optimizing a brushless motor phase lead angle and a control system. The method includes the steps of detecting state parameters of a motor; obtaining control parameters of the motor; determining calculating parameters of the phase lead angle according to the state parameters and the control parameters; optimizing the motor phase lead angle according to the calculating parameters of the phase lead angle; adjusting the phases of stimulation signals exerted to the motor according to the phase lead angle. The optimized calculating parameters of the phase lead angle can be adjusted in an adaptive mode according to the degree of motor loads, the phase lead angle obtained through calculation can accordingly adapt to changes of the motor loads, the motor performance is improved, and meanwhile motor underloading is avoided, and abnormal phenomena such as galloping during underloading is particularly avoided.
Description
Technical field
The present invention relates to industrial automatic control field, relate in particular to a kind of method, device and control system of brushless electric machine phase advance angle optimization.
Background technology
Brushless motor utilizes electronic commutation to substitute mechanical commutation, overcome the series of problems that traditional direct current machine produces due to brush friction, and have that good speed adjustment features, volume are little, efficiency advantages of higher, thereby be widely used in every field and daily life that national economy produces.
The winding of brushless electric machine is inductance characteristic, and therefore winding current lags behind applied voltage.So certain phase advance angle is set conventionally to make phase current and corresponding back electromotive force homophase, to reach the object that improves motor output torque and efficiency.The setting of advance angle is broadly divided into directly and indirect two kinds of modes.The phase place of back electromotive force can be determined by position transducer, therefore can directly obtain advance angle information by the detection of phase current.But, directly mode needs a large amount of computational resources conventionally, and hardware cost is higher, and the construction cycle is also longer.Therefore often use indirectly mode, such as obtaining approximate advance angle by the detection of motor average current.
But conventional indirect mode conventionally needs user to determine by test according to the typical case of motor and load and solidifies required calculating parameter at present.For example in the automatic advance angle algorithm based on motor average current, adopt fixing advance angle biasing LA
0with gain k, in the time that load changes, calculating parameter biasing LA
0k can not change thereupon with gain, thereby has affected the versatility of the method in motor control schemes, in the application scenarios constantly changing, in water pump, can cause the performance of motor to be affected in load, even easily occurs the anomalies such as motor driving.Motor driving specifically refers to the rotating speed of motor and power violent increasing suddenly, especially easily occur when excessive at empty load of motor or advance angle, and this can cause motor because of overheated and impaired, even threatens personal security.
Summary of the invention
The embodiment of the present invention provides a kind of method, device and control system of brushless electric machine phase advance angle optimization, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
First aspect, the embodiment of the present invention provides a kind of method of brushless electric machine phase advance angle optimization, comprising:
Detect the state parameter of motor;
Obtain the control parameter of motor;
Determine phase advance angle calculating parameter according to described state parameter and described control parameter;
Optimize the phase advance angle of described motor according to described phase advance angle calculating parameter;
According to described phase advance angle, adjust the phase place of the pumping signal that puts on described motor.
Preferably, described control parameter comprises the line voltage of motor; Described state parameter comprises motor speed; The function of the line voltage that described phase advance angle calculating parameter is described motor and the ratio of described motor speed.
Preferably, before optimizing the phase advance angle of described motor according to described phase advance angle calculating parameter, described method also comprises:
Obtain the average current of described motor.
Further preferred, described phase advance angle calculating parameter comprises gain parameter and offset parameter, and the described phase advance angle of optimizing described motor according to described gain parameter and offset parameter is specially:
LA＝k·I
AVG+LA
0；
Wherein, LA is phase advance angle, and k is gain parameter, I
aVGfor the average current of motor, LA
0for offset parameter.
Second aspect, the embodiment of the present invention provides a kind of device of brushless electric machine phase advance angle optimization, it is characterized in that, and described device comprises:
Detecting unit, for detection of motor status parameter;
Acquiring unit, for obtaining the control parameter of motor;
Determining unit, for determining phase advance angle calculating parameter according to described state parameter and described control parameter;
Optimize unit, for optimize the phase advance angle of described motor according to described phase advance angle calculating parameter;
Control and driver element, for according to described phase advance angle, adjust the phase place of the pumping signal that puts on described motor.
Preferably, described control parameter comprises the line voltage of motor; Described state parameter comprises motor speed; The function of the line voltage that described phase advance angle calculating parameter is described motor and the ratio of described motor speed.
Preferably, described device also comprises:
Electric current acquiring unit, for obtaining the average current of described motor.
Further preferred, described phase advance angle calculating parameter comprises gain parameter and offset parameter, described optimization unit specifically for:
LA＝k·I
AVG+LA
0；
Wherein, LA is phase advance angle, and k is gain parameter, I
aVGfor the average current of motor, LA
0for offset parameter.
The third aspect, the embodiment of the present invention also provides a kind of phase advance angle optimization circuit, comprises the device of the brushless electric machine phase advance angle optimization described in above-mentioned second aspect.
Fourth aspect, the embodiment of the present invention also provides a kind of brushless motor control system, testing circuit, control circuit and power switch circuit;
Described control circuit comprises as above-mentioned phase advance angle optimization circuit claimed in claim 9.
The method of the brushless electric machine phase advance angle optimization of the embodiment of the present invention, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The method flow diagram of a kind of brushless electric machine phase advance angle optimization that Fig. 1 provides for the embodiment of the present invention;
The structured flowchart of the device of a kind of brushless electric machine phase advance angle optimization that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram of the device of a kind of brushless electric machine phase advance angle optimization that Fig. 3 provides for the embodiment of the present invention;
The structural representation of the brushless motor control system that Fig. 4 provides for the embodiment of the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.Should be clear and definite, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention one provides a kind of method of brushless electric machine phase advance angle optimization, as shown in Figure 1, described in comprise the steps:
Step 110, the state parameter of detection motor;
Concrete, the state parameter of motor comprises the rotating speed of motor;
The control module being connected with brushless electric machine detects the operating state of brushless electric machine, thereby obtains the current rotating speed FG of motor.
Step 120, obtains the control parameter of motor;
Concrete, control parameter and comprise motor lines voltage Vs.
In the time using pulse width modulation (PWM) technology control motor, motor lines voltage is proportional with the duty ratio of the pwm signal applying.
Step 130, determines phase advance angle calculating parameter according to described state parameter and described control parameter;
Concrete, taking the phase advance angle algorithm based on average circuit calculating as example, phase advance angle calculating parameter can specifically comprise gain parameter k and offset parameter LA
0, gain function k and bias function LA
0be all the parameter relevant to motor load weight, and the light and heavy degree of motor load can be used recently characterizing of motor lines voltage Vs and motor speed FG, ratio is larger, and load is heavier; Ratio is less, and load is lighter.Therefore gain function k and bias function LA
0can be expressed as:
K=f (FG, Vs) (formula 1)
LA
0=g (FG, Vs) (formula 2)
F (FG, Vs) and g (FG, Vs) are respectively the function of motor load weight.
Further, f (FG, Vs) can be the continuous function of Vs/FG, or can obtain by tabling look-up.
Phase advance angle calculating parameter is not limited to gain parameter k and offset parameter LA
0, also may comprise other parameters such as the quadratic power coefficient of average current.The gain parameter k herein exemplifying and offset parameter LA
0be only a kind of specific embodiment, the not restriction to technical solution of the present invention.
Step 140, optimizes the phase advance angle of described motor according to described phase advance angle calculating parameter;
Concrete, still taking employing, the automatic phase advance angle algorithm based on motor average current is as example, and the computing formula of phase advance angle LA can be
LA=kI
aVG+ LA
0(formula 3)
Wherein, I
aVGfor the average current of motor.When this average current, before calculating, obtained by control module phase advance angle.
Hence one can see that, in abovementioned steps 130, and the gain function k obtaining according to the load of motor and bias function LA
0, for the dynamic calculation of phase advance angle, thereby realize control module according to the optimization of the light and heavy degree self adaptation adjustment phase advance angle of motor load, make the phase advance angle calculating can adapt to the variation of motor load.
After calculating the phase advance angle of dynamic optimization, the method that the embodiment of the present invention provides also comprises:
Step 150, according to described phase advance angle, adjusts the phase place of the pumping signal that puts on described motor.
The method of the brushless electric machine phase advance angle optimization that the embodiment of the present invention provides, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
Accordingly, the embodiment of the present invention two also provides a kind of device of brushless electric machine phase advance angle optimization, the method providing in order to realize above-described embodiment one.
The device of the brushless electric machine phase advance angle optimization that as shown in Figure 2, the embodiment of the present invention provides comprises: detecting unit 210, acquiring unit 220, determining unit 230, optimization unit 240 and control and driver element unit 250.
Detecting unit 210, for detection of motor status parameter;
Acquiring unit 220, for obtaining the control parameter of motor;
Determining unit 230, for determining phase advance angle calculating parameter according to described state parameter and described control parameter;
Concrete, described control parameter comprises the line voltage of motor; Described state parameter comprises motor speed; Phase advance angle calculating parameter can comprise gain parameter and offset parameter in a specific embodiment.Described gain parameter and offset parameter are respectively the function of the line voltage of described motor and the ratio of described motor speed.
Optimize unit 240, for optimize the phase advance angle of described motor according to described phase advance angle calculating parameter;
Control and driver element 250, for according to described phase advance angle, adjust the phase place of the pumping signal that puts on described motor.
Optionally, described device also comprises:
Electric current acquiring unit 260, for obtaining the average current of described motor.
The function of concrete each unit is corresponding with the each step 1 one in said method embodiment, repeats no more herein.
When the device of the brushless electric machine phase advance angle optimization providing in the embodiment of the present invention carries out work, detecting unit 210 detects the state parameter of motor, obtains motor speed; Acquiring unit 220 obtains the line voltage of motor; Determining unit 230 determines that according to motor speed and line voltage phase advance angle calculates ginseng; Optimize unit 240 calculates motor phase advance angle according to the optimization of phase advance angle calculating parameter; Control and driver element 250 according to phase advance angle, adjustment puts on the phase place of the pumping signal of described motor.
The device of the brushless electric machine phase advance angle optimization that the embodiment of the present invention provides, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
The schematic diagram of the device of a kind of brushless electric machine phase advance angle optimization that Fig. 3 provides for the embodiment of the present invention.Fig. 3 shows the hardware structure of a kind of specific implementation of the device that above-described embodiment 2 provides.Described device comprises: load detecting circuit 310, low pass filter 320, control algolithm circuit 331, biasing LA
0circuit tuning 332, gain k Circuit tuning 333, multiplier 341, adder 342, driving circuits 350.
Specifically as shown in Figure 3:
Load detecting circuit 310 detects the rotating speed of motor 100, in conjunction with the light and heavy degree of controlling parameter characterization motor load, this light and heavy degree can by quantize the sign factor or other formal outputs to control algolithm circuit 331, and accordingly according to control algolithm produce adjust signal, respectively to biasing LA
0lA in Circuit tuning 332
0adjust rear output, and output after the gain k in gain k Circuit tuning 333 is adjusted.Low pass filter 320 carries out obtaining after low-pass filtering the average current I of motor to the bus current of motor
aVG, then successively through multiplier 341 and adder 342 is carried out multiplication, add operation obtains phase advance angle LA.Driving circuits 350 puts on the phase place of the pumping signal of motor according to the phase advance angle adjustment obtaining, to reach the object that improves motor output torque and efficiency.
The device of the brushless electric machine phase advance angle optimization that the embodiment of the present invention provides, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
Accordingly, the embodiment of the present invention also provides a kind of brushless motor control system, and as shown in Figure 4, described control system comprises: testing circuit 420, control circuit 430 and power switch circuit 440.Described electric machine control system is for the operation of the motor 410 shown in control chart.
Wherein, control circuit 430 has comprised the device of the brushless electric machine phase advance angle optimization that above-described embodiment two provides.
Testing circuit 420, control circuit 430 and power switch circuit 440 can specifically be realized by multiple chips, can be to be also integrated in a chips to realize.
Motor 410 can be specially permanent-magnet brushless DC electric machine, is specifically made up of stator and rotor two parts, and stator winding can be that single-phase, two-phase or three equates, rotor is made up of by certain number of pole-pairs permanent magnet.
Testing circuit 420, is used for detecting the rotor magnetic pole position of brshless DC motor, for power switch circuit provides correct commutation information.Testing circuit 420 converts the position signalling of rotor magnetic pole to the signal of telecommunication, controls after treatment winding commutation, and the conducting order of power switch is synchronizeed with angle of rotor.Therefore, testing circuit 420 matches with power switch circuit 440, and playing a part similar tradition has mechanical commutator and the brush of brushless motor.According to it, whether installation site transducer can be divided into position sensor control mode and position Sensorless Control mode to testing circuit 420.Position sensor control mode, completes the detection to rotor-position by rotor-position sensor is installed, and the kind of its position transducer is generally divided into electromagnetic position sensor, photoelectric position sensor, Mageneto-sensitive type position transducer etc.Except the transducer of installation site, can also be by detecting the various amount of information relevant to motor, processing also can obtain the position signalling of motor, i.e. position Sensorless Control mode after calculating.
Control circuit 430, major function is the conducting configuration of power ratio control switching circuit 440, make the accurate commutation of motor stator winding, guarantee that DC brushless motor is in operation process, the magnetic field that stator winding is produced remains vertical with the magnetic field of the rotor permanent magnet utmost point in space, thereby obtains maximum torque.In addition, control circuit 430 also control motor rotating speed, turn to and torque, and complete the various protections to motor.Comprise overcurrent protection, overvoltage protection, overheat protector.In addition can also realize the optimization of the phase advance angle in the above embodiment of the present invention.
Power switch circuit 440 mainly refers to inverter circuit, is become by set of power switches, is controlled by control circuit 430.
The brushless motor control system that the embodiment of the present invention provides, can adjust according to the light and heavy degree self adaptation of motor load the calculating parameter of phase advance angle optimization, thereby make the phase advance angle calculating can adapt to the variation of motor load, improve motor performance, while avoiding motor underloading especially unloaded, occur the anomalies such as driving simultaneously.
Professional should further recognize, unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein, can realize with electronic hardware, describe in general manner in the above description composition and the step of each example according to function.Each specifically should being used for realized to described function with distinct methods, but this realization should not thought and exceeds the scope of the embodiment of the present invention.Particularly, described computing and control section can dredging collateral logic hardware be realized, and it can be to use the produced logical integrated circuit of integrated circuit technology, and the present embodiment is not construed as limiting this.
The software module that the method for describing in conjunction with embodiment disclosed herein or the step of algorithm can use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random asccess memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only the specific embodiment of the present invention; the protection range being not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a method for brushless electric machine phase advance angle optimization, is characterized in that, described method comprises:
Detect the state parameter of motor;
Obtain the control parameter of motor;
Determine phase advance angle calculating parameter according to described state parameter and described control parameter;
Optimize the phase advance angle of described motor according to described phase advance angle calculating parameter;
According to described phase advance angle, adjust the phase place of the pumping signal that puts on described motor.
2. method according to claim 1, is characterized in that, described control parameter comprises the line voltage of motor; Described state parameter comprises motor speed; The function of the line voltage that described phase advance angle calculating parameter is described motor and the ratio of described motor speed.
3. method according to claim 1, is characterized in that, before optimizing the phase advance angle of described motor according to described phase advance angle calculating parameter, described method also comprises:
Obtain the average current of described motor.
4. method according to claim 3, is characterized in that, described phase advance angle calculating parameter comprises gain parameter and offset parameter, and the described phase advance angle of optimizing described motor according to described phase advance angle calculating parameter is specially:
LA＝k·I
AVG+LA
0；
Wherein, LA is phase advance angle, and k is gain parameter, I
aVGfor the average current of motor, LA
0for offset parameter.
5. a device for brushless electric machine phase advance angle optimization, is characterized in that, described device comprises:
Detecting unit, for detection of the state parameter of motor;
Acquiring unit, for obtaining the control parameter of motor;
Determining unit, for determining phase advance angle calculating parameter according to described state parameter and described control parameter;
Optimize unit, for optimize the phase advance angle of described motor according to described phase advance angle calculating parameter;
Control and driver element, for according to described phase advance angle, adjust the phase place of the pumping signal that puts on described motor.
6. device according to claim 5, is characterized in that, described control parameter comprises the line voltage of motor; Described state parameter comprises motor speed; The function of the line voltage that described phase advance angle calculating parameter is described motor and the ratio of described motor speed.
7. device according to claim 5, is characterized in that, described device also comprises:
Electric current acquiring unit, for obtaining the average current of described motor.
8. device according to claim 7, is characterized in that, described phase advance angle calculating parameter comprises gain parameter and offset parameter, described optimization unit specifically for:
LA＝k·I
AVG+LA
0；
Wherein, LA is phase advance angle, and k is gain parameter, I
aVGfor the average current of motor, LA
0for offset parameter.
9. a phase advance angle optimization circuit, is characterized in that, described control circuit comprises the device of the brushless electric machine phase advance angle optimization as described in claim as arbitrary in the claims 5-8.
10. a brushless motor control system, is characterized in that, described system comprises: testing circuit, control circuit and power switch circuit;
Described control circuit comprises as above-mentioned phase advance angle optimization circuit claimed in claim 9.
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| CN105071709A (en) * | 2015-07-16 | 2015-11-18 | 周海波 | Motor optimization control apparatus and method |
| CN106160602A (en) * | 2016-07-14 | 2016-11-23 | 深圳市高科润电子有限公司 | The constant-power control method of single-phase DC brushless motor |
| CN108964574A (en) * | 2017-05-26 | 2018-12-07 | 茂达电子股份有限公司 | Motor control system and motor control method |
| CN111456933A (en) * | 2020-05-08 | 2020-07-28 | 河海大学常州校区 | Method for detecting idle state of automobile electronic water pump |
| CN112994540A (en) * | 2019-12-18 | 2021-06-18 | 珠海格力电器股份有限公司 | Motor control method and device, motor controller, motor and household appliance |
| CN114893431A (en) * | 2022-05-27 | 2022-08-12 | 湖南工业大学 | High-precision control method for hydrogen fuel cell air compressor |
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| CN111456933A (en) * | 2020-05-08 | 2020-07-28 | 河海大学常州校区 | Method for detecting idle state of automobile electronic water pump |
| CN111456933B (en) * | 2020-05-08 | 2022-03-08 | 河海大学常州校区 | Method for detecting idle state of automobile electronic water pump |
| CN114893431A (en) * | 2022-05-27 | 2022-08-12 | 湖南工业大学 | High-precision control method for hydrogen fuel cell air compressor |
| CN114893431B (en) * | 2022-05-27 | 2023-06-02 | 湖南工业大学 | High-precision control method for air compressor of hydrogen fuel cell |
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Effective date of registration: 20170621 Address after: 201203, Shanghai, Pudong New Area, China (Shanghai) free trade zone, 666 Zhang Heng Road, Lane 2, room 504-511, room 5 Patentee after: Shanghai semiconducto Limited by Share Ltd Address before: 300457, Binhai New Area, Tianjin, West Ring Road, 19 TEDA service outsourcing park, building 2701-1, room 2 Patentee before: International Green Chip (Tianjin) Co.,Ltd. |
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